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--- robots:armadillo:calibration:welcome [2012/10/10 15:40]
karina [UMB-mark test]
+++ robots:armadillo:calibration:welcome [2012/10/11 12:53]
karina
@@ Line 2: / Line 2: @@
 ===== Odometri constants =====
-It is aasumed that the tuningpoint for the belts is the center of the belts.
+It is assumed that the turningpoint for the belts is the center of the belts.
-FIXME - Insert the calculated values
-  cl=0.00312
-  cr=0.00312
-  w =1.31
+  cl = 0.00348377
+  cr = 0.003193242
+  w = 1.68336
+{{:robots:armadillo:calibration:clockwise_graph.png?350|}}
+{{:robots:armadillo:calibration:counterclockwise_graph.png?350|}}
 ==== UMB-mark test ====
-<task>
-TITLE: Document the result
-PRIORITY: High
-ESTIMATE: 5 h
-PROGRESS: 0%
-ASSIGNED: Karina
-DESCRIPTION:See taskfreak
-</task>
 {{:robots:armadillo:calibration:calibration_umb.xlsx|UMB}} (168 KB)
@@ Line 25: / Line 15: @@
 === BEFORE CALIBRATION ===
-{{:robots:armadillo:calibration:aftercalibration_formula.png?300|}}
+$r_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
-r c.g.cw(cm) = 83,43 \\
-r c.g.ccw(cm) = 128,6701986 \\
-L=2m \\
+$r_{c.g.cw} = 83.43 cm $\\
+$r_{c.g.ccw} = 128.67 cm$ \\
+$L = 2 m $\\
-^CLOCKWISE^^^^
+{{:robots:armadillo:calibration:beforecalibration_graph.png?370|}}
+^CLOCKWISE, cw^^^^
 ^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-63	|	|-63,5|
+|1	|-63	|	|-63.5|
-|2	|-50,5	|	|-59|
+|2	|-50.5	|	|-59|
 |3	|-34	|	|-65|
-|4	|-26,5	|	|-78,5|
+|4	|-26.5	|	|-78.5|
-|5	|-41	|	|-91,5|
+|5	|-41	|	|-91.5|
-|Xc.g.=	|-43	|Yc.g.=	|-71,5|
+|X<sub>c.g.</sub>=|-43|Y<sub>c.g.</sub>=|-71.5|
 {{:robots:armadillo:calibration:beforecalibration_clockwise.png?350|}}
-{{:robots:armadillo:calibration:beforecalibration_clockwise_route.png?300|}}
+{{:robots:armadillo:calibration:beforecalibration_clockwise_route.png?370|}}
-^COUNTERCLOCKWISE^^^^
+^COUNTERCLOCKWISE, ccw^^^^
 ^	^ϵx [cm]^	^ϵy [cm]^
 |1	|-71	|	|97|
@@ Line 52: / Line 44: @@
 |3	|-74	|	|87|
 |4	|-69	|	|123|
-|5	|-65,5	|	|100,5|
+|5	|-65.5	|	|100.5|
-|Xc.g.=|-75,9	|Yc.g.=	|103,9|
+|X<sub>c.g.</sub>=|-75.9|Y<sub>c.g.</sub>=|103.9|
 {{:robots:armadillo:calibration:beforecalibration_counterclockwise.png?350|}}
-{{:robots:armadillo:calibration:beforecalibration_counterclockwise_route.png?300|}}
+{{:robots:armadillo:calibration:beforecalibration_counterclockwise_route.png?370|}}
-=== AFTER CALCULATION ===
+=== Calculations ===
-{{:robots:armadillo:calibration:aftercalibration_formula.png?300|}}
+$$\alpha = \frac{x_{c.g.,cw}+x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi}$$
+|α = |851.99 cm|
+|    |8.5199 m |
+$$ \beta = \frac{x_{c.g.,cw}-x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi} $$
+|β = |-235.7484 cm|
+|    |-2.357 m |
+$$R = \frac{L/2}{sin(\beta /2)} $$
+|R = |-48.7 m|
+$$E_d = \frac{D_R}{D_L} = \frac{R+b/2}{R-b/2} $$
+|b = |1.524 m|
+|$E_d$ =|0.969 |
+$$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$
+|$b_{actual}$ =|1.6834|calibrated value of wheelbase|
+| ::: |1.524|before calibration|
+$$c_l = \frac{2}{E_d+1} $$
+$$c_r = \frac{2}{(1/E_d)+1} $$
+^ ^Correction factor ^Before Calibration^After Calibration^
+|$c_l$ =|1.0156 |0.00343|0.003484 |
+|$c_r$ =|0.9844 |0.00324 |0.003193|
+=== AFTER CALCULATION ===
+$r_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
-r c.g.cw(cm) = 4,12 \\
+$r_{c.g.cw} = 4.12 cm$ \\
-r c.g.ccw(cm) = 29,35 \\
+$r_{c.g.ccw} = 29.35 cm$ \\
-^CLOCKWISE^^^^
+^CLOCKWISE, cw^^^^
 ^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-6	|	|-14,5|
+|1	|-6	|	|-14.5|
-|2	|-12,5	|	|-10|
+|2	|-12.5	|	|-10|
-|3	|5,5	|	|8|
+|3	|5.5	|	|8|
-|4	|-5,5	|	|-7|
+|4	|-5.5	|	|-7|
-|5	|2,5	|	|10,5|
+|5	|2.5	|	|10.5|
-|Xc.g.=	|-3,2	|Yc.g.=	|-2,6|
+|X<sub>c.g.</sub>=	|-3.2	|Y<sub>c.g.</sub>=	|-2.6|
 {{:robots:armadillo:calibration:aftercalibration_clockwise.png?350|}}
-^COUNTERCLOCKWISE^^^^
+^COUNTERCLOCKWISE, ccw^^^^
 ^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-38,5	|	|24|
+|1	|-38.5	|	|24|
 |2	|-27	|	|10|
-|3	|-19,5	|	|11|
+|3	|-19.5	|	|11|
-|4	|-22,5	|	|20|
+|4	|-22.5	|	|20|
 |5	|-22	|	|4 |
-|Xc.g.=	|-25,9	|Yc.g.=	|13,8|
+|X<sub>c.g.</sub>=|-25.9|Y<sub>c.g.</sub>=|13.8|
 {{:robots:armadillo:calibration:aftercalibration_counterclockwise.png?350|}}

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